Imath::Box3d HoudiniScene::readBound( double time ) const
{
OP_Node *node = retrieveNode( true );
Imath::Box3d bounds;
UT_BoundingBox box;
OP_Context context( time );
/// \todo: this doesn't account for SOPs containing multiple shapes
/// if we fix it, we need to fix the condition below as well
if ( node->getBoundingBox( box, context ) )
{
bounds = IECore::convert<Imath::Box3d>( box );
}
// paths embedded within a sop already have bounds accounted for
if ( m_contentIndex )
{
return bounds;
}
NameList children;
childNames( children );
for ( NameList::iterator it=children.begin(); it != children.end(); ++it )
{
ConstSceneInterfacePtr childScene = child( *it );
Imath::Box3d childBound = childScene->readBound( time );
if ( !childBound.isEmpty() )
{
bounds.extendBy( Imath::transform( childBound, childScene->readTransformAsMatrix( time ) ) );
}
}
return bounds;
}
static Imath::Box3d getBoundingBox(const V3d& offset, const std::vector<float>& vertices)
{
Imath::Box3d bbox;
for (size_t i = 0; i < vertices.size(); i+=3)
bbox.extendBy(V3d(vertices[i], vertices[i+1], vertices[i+2]));
if (!bbox.isEmpty())
{
bbox.min += offset;
bbox.max += offset;
}
return bbox;
}
MBoundingBox convert( const Imath::Box3d &from )
{
if( from.isEmpty() )
{
return MBoundingBox();
}
return MBoundingBox( convert<MPoint>( from.min ), convert<MPoint>( from.max ) );
}
Imath::Box3d LiveScene::readBound( double time ) const
{
tbb::mutex::scoped_lock l( s_mutex );
if( fabs( MAnimControl::currentTime().as( MTime::kSeconds ) - time ) > 1.e-4 )
{
throw Exception( "IECoreMaya::LiveScene::readBound: time must be the same as on the maya timeline!" );
}
if( m_isRoot )
{
MDagPathArray paths;
getChildDags( m_dagPath, paths );
Imath::Box3d bound;
for( unsigned i=0; i < paths.length(); ++i )
{
MFnDagNode dagFn( paths[i] );
Imath::Box3d b = IECore::convert<Imath::Box3d, MBoundingBox>( dagFn.boundingBox() );
if( b.hasVolume() )
{
bound.extendBy( b );
}
}
return bound;
}
else if( m_dagPath.length() == 0 )
{
throw Exception( "IECoreMaya::LiveScene::readBound: Dag path no longer exists!" );
}
else
{
MFnDagNode dagFn( m_dagPath );
Imath::Box3d ret = IECore::convert<Imath::Box3d, MBoundingBox>( dagFn.boundingBox() );
Imath::M44d invTransform = IECore::convert<Imath::M44d, MMatrix>( dagFn.transformationMatrix() ).inverse();
return Imath::transform( ret, invTransform );
}
}
/// Load point cloud in text format, assuming fields XYZ
bool PointArray::loadText(QString fileName, size_t maxPointCount,
std::vector<GeomField>& fields, V3d& offset,
size_t& npoints, uint64_t& totPoints,
Imath::Box3d& bbox, V3d& centroid)
{
V3d Psum(0);
// Use C file IO here, since it's about 40% faster than C++ streams for
// large text files (tested on linux x86_64, gcc 4.6.3).
FILE* inFile = fopen(fileName.toUtf8(), "r");
if (!inFile)
return false;
fseek(inFile, 0, SEEK_END);
const size_t numBytes = ftell(inFile);
fseek(inFile, 0, SEEK_SET);
std::vector<Imath::V3d> points;
Imath::V3d p;
size_t readCount = 0;
// Read three doubles; "%*[^\n]" discards up to just before end of line
while (fscanf(inFile, " %lf %lf %lf%*[^\n]", &p.x, &p.y, &p.z) == 3)
{
points.push_back(p);
++readCount;
if (readCount % 10000 == 0)
emit loadProgress(int(100*ftell(inFile)/numBytes));
}
fclose(inFile);
totPoints = points.size();
npoints = points.size();
// Zero points + nonzero bytes => bad text file
if (totPoints == 0 && numBytes != 0)
return false;
if (totPoints > 0)
offset = points[0];
fields.push_back(GeomField(TypeSpec::vec3float32(), "position", npoints));
V3f* position = (V3f*)fields[0].as<float>();
for (size_t i = 0; i < npoints; ++i)
{
position[i] = points[i] - offset;
bbox.extendBy(points[i]);
Psum += points[i];
}
if (npoints > 0)
centroid = (1.0/npoints)*Psum;
return true;
}
/// Load ascii version of the point cloud library PCD format
bool PointArray::loadPly(QString fileName, size_t maxPointCount,
std::vector<GeomField>& fields, V3d& offset,
size_t& npoints, uint64_t& totPoints,
Imath::Box3d& bbox, V3d& centroid)
{
std::unique_ptr<t_ply_, int(*)(p_ply)> ply(
ply_open(fileName.toUtf8().constData(), NULL, 0, NULL), ply_close);
if (!ply || !ply_read_header(ply.get()))
return false;
// Parse out header data
p_ply_element vertexElement = findVertexElement(ply.get(), npoints);
if (vertexElement)
{
if (!loadPlyVertexProperties(fileName, ply.get(), vertexElement, fields, offset, npoints))
return false;
}
else
{
if (!loadDisplazNativePly(fileName, ply.get(), fields, offset, npoints))
return false;
}
totPoints = npoints;
// Compute bounding box and centroid
const V3f* P = (V3f*)fields[0].as<float>();
V3d Psum(0);
for (size_t i = 0; i < npoints; ++i)
{
Psum += P[i];
bbox.extendBy(P[i]);
}
if (npoints > 0)
centroid = (1.0/npoints) * Psum;
centroid += offset;
bbox.min += offset;
bbox.max += offset;
return true;
}
bool PointArray::loadFile(QString fileName, size_t maxPointCount)
{
QTime loadTimer;
loadTimer.start();
setFileName(fileName);
// Read file into point data fields. Use very basic file type detection
// based on extension.
uint64_t totPoints = 0;
Imath::Box3d bbox;
V3d offset(0);
V3d centroid(0);
emit loadStepStarted("Reading file");
if (fileName.endsWith(".las") || fileName.endsWith(".laz"))
{
if (!loadLas(fileName, maxPointCount, m_fields, offset,
m_npoints, totPoints, bbox, centroid))
{
return false;
}
}
else if (fileName.endsWith(".ply"))
{
if (!loadPly(fileName, maxPointCount, m_fields, offset,
m_npoints, totPoints, bbox, centroid))
{
return false;
}
}
#if 0
else if (fileName.endsWith(".dat"))
{
// Load crappy db format for debugging
std::ifstream file(fileName.toUtf8(), std::ios::binary);
file.seekg(0, std::ios::end);
totPoints = file.tellg()/(4*sizeof(float));
file.seekg(0);
m_fields.push_back(GeomField(TypeSpec::vec3float32(), "position", totPoints));
m_fields.push_back(GeomField(TypeSpec::float32(), "intensity", totPoints));
float* position = m_fields[0].as<float>();
float* intensity = m_fields[1].as<float>();
for (size_t i = 0; i < totPoints; ++i)
{
file.read((char*)position, 3*sizeof(float));
file.read((char*)intensity, 1*sizeof(float));
bbox.extendBy(V3d(position[0], position[1], position[2]));
position += 3;
intensity += 1;
}
m_npoints = totPoints;
}
#endif
else
{
// Last resort: try loading as text
if (!loadText(fileName, maxPointCount, m_fields, offset,
m_npoints, totPoints, bbox, centroid))
{
return false;
}
}
// Search for position field
m_positionFieldIdx = -1;
for (size_t i = 0; i < m_fields.size(); ++i)
{
if (m_fields[i].name == "position" && m_fields[i].spec.count == 3)
{
m_positionFieldIdx = (int)i;
break;
}
}
if (m_positionFieldIdx == -1)
{
g_logger.error("No position field found in file %s", fileName);
return false;
}
m_P = (V3f*)m_fields[m_positionFieldIdx].as<float>();
setBoundingBox(bbox);
setOffset(offset);
setCentroid(centroid);
emit loadProgress(100);
g_logger.info("Loaded %d of %d points from file %s in %.2f seconds",
m_npoints, totPoints, fileName, loadTimer.elapsed()/1000.0);
if (totPoints == 0)
{
m_rootNode.reset(new OctreeNode(V3f(0), 1));
return true;
}
// Sort points into octree order
emit loadStepStarted("Sorting points");
std::unique_ptr<size_t[]> inds(new size_t[m_npoints]);
for (size_t i = 0; i < m_npoints; ++i)
inds[i] = i;
// Expand the bound so that it's cubic. Not exactly sure it's required
// here, but cubic nodes sometimes work better the points are better
// distributed for LoD, splitting is unbiased, etc.
Imath::Box3f rootBound(bbox.min - offset, bbox.max - offset);
V3f diag = rootBound.size();
float rootRadius = std::max(std::max(diag.x, diag.y), diag.z) / 2;
ProgressFunc progressFunc(*this);
m_rootNode.reset(makeTree(0, &inds[0], 0, m_npoints, &m_P[0],
rootBound.center(), rootRadius, progressFunc));
// Reorder point fields into octree order
emit loadStepStarted("Reordering fields");
for (size_t i = 0; i < m_fields.size(); ++i)
{
g_logger.debug("Reordering field %d: %s", i, m_fields[i]);
reorder(m_fields[i], inds.get(), m_npoints);
emit loadProgress(int(100*(i+1)/m_fields.size()));
}
m_P = (V3f*)m_fields[m_positionFieldIdx].as<float>();
return true;
}
// Triangulate a polygon, returning vertex indices to the triangles
//
// verts - 3D vertex positions
// outerRingInds - Indices of outer boundary vertices in `verts` array;
// the j'th component of the i'th polygon vertex is
// verts[3*outerRingInds[i]+j].
// innerRingSizes - Number of vertices in each polygon hole
// innerRingInds - Indices of vertices for all holes; the first hole has
// indices innerRingInds[i] for i in [0, innerRingSize[0])
// triangleInds - Indices of triangular pieces are appended to this array.
//
// Return false if polygon couldn't be triangulated.
static bool triangulatePolygon(const std::vector<float>& verts,
const std::vector<GLuint>& outerRingInds,
const std::vector<GLuint>& innerRingSizes,
const std::vector<GLuint>& innerRingInds,
std::vector<GLuint>& triangleInds)
{
// Figure out which dimension the bounding box is smallest along, and
// discard it to reduce dimensionality to 2D.
Imath::Box3d bbox;
for (size_t i = 0; i < outerRingInds.size(); ++i)
{
GLuint j = 3*outerRingInds[i];
assert(j + 2 < verts.size());
bbox.extendBy(V3d(verts[j], verts[j+1], verts[j+2]));
}
V3d diag = bbox.size();
int xind = 0;
int yind = 1;
if (diag.z > std::min(diag.x, diag.y))
{
if (diag.x < diag.y)
xind = 2;
else
yind = 2;
}
std::list<TPPLPoly> triangles;
if (innerRingSizes.empty())
{
TPPLPoly poly;
// Simple case - no holes
//
// TODO: Use Triangulate_MONO, after figuring out why it's not always
// working?
initTPPLPoly(poly, verts, xind, yind,
outerRingInds.data(), (int)outerRingInds.size(), false);
TPPLPartition polypartition;
if (!polypartition.Triangulate_EC(&poly, &triangles))
{
g_logger.warning("Ignoring polygon which couldn't be triangulated.");
return false;
}
}
else
{
// Set up outer polygon boundary and holes.
std::list<TPPLPoly> inputPolys;
inputPolys.resize(1 + innerRingSizes.size());
auto polyIter = inputPolys.begin();
initTPPLPoly(*polyIter, verts, xind, yind,
outerRingInds.data(), (int)outerRingInds.size(), false);
++polyIter;
for (size_t i = 0, j = 0; i < innerRingSizes.size(); ++i, ++polyIter)
{
size_t count = innerRingSizes[i];
if (j + count > innerRingInds.size())
{
g_logger.warning("Ignoring polygon with inner ring %d of %d too large",
i, innerRingSizes.size());
return false;
}
initTPPLPoly(*polyIter, verts, xind, yind,
innerRingInds.data() + j, (int)count, true);
j += count;
}
// Triangulate
std::list<TPPLPoly> noHolePolys;
TPPLPartition polypartition;
polypartition.RemoveHoles(&inputPolys, &noHolePolys);
if (!polypartition.Triangulate_EC(&noHolePolys, &triangles))
{
g_logger.warning("Ignoring polygon which couldn't be triangulated.");
return false;
}
}
for (auto tri = triangles.begin(); tri != triangles.end(); ++tri)
{
triangleInds.push_back((*tri)[0].id);
triangleInds.push_back((*tri)[1].id);
triangleInds.push_back((*tri)[2].id);
}
return true;
}
bool PointArray::loadLas(QString fileName, size_t maxPointCount,
std::vector<GeomField>& fields, V3d& offset,
size_t& npoints, uint64_t& totalPoints,
Imath::Box3d& bbox, V3d& centroid)
{
V3d Psum(0);
#ifdef DISPLAZ_USE_PDAL
// Open file
if (!pdal::FileUtils::fileExists(fileName.toLatin1().constData()))
{
g_logger.info("File \"%s\" does not exist", fileName.toStdString() );
return false;
}
std::unique_ptr<pdal::PipelineManager> manager(new pdal::PipelineManager);
pdal::StageFactory factory;
std::string driver = factory.inferReaderDriver(fileName.toStdString());
manager->addReader(driver);
pdal::Stage* reader = static_cast<pdal::Reader*>(manager->getStage());
pdal::Options options;
pdal::Option fname("filename", fileName.toStdString());
options.add(fname);
reader->setOptions(options);
manager->execute();
pdal::PointBufferSet pbSet = manager->buffers();
pdal::PointContext context = manager->context();
bool hasColor = context.hasDim(pdal::Dimension::Id::Red);
pdal::QuickInfo quickinfo = reader->preview();
// Figure out how much to decimate the point cloud.
totalPoints = quickinfo.m_pointCount;
size_t decimate = totalPoints == 0 ? 1 : 1 + (totalPoints - 1) / maxPointCount;
if(decimate > 1)
{
g_logger.info("Decimating \"%s\" by factor of %d",
fileName.toStdString(), decimate);
}
npoints = (totalPoints + decimate - 1) / decimate;
pdal::BOX3D pdal_bounds = quickinfo.m_bounds;
offset = V3d(0.5*(pdal_bounds.minx + pdal_bounds.maxx),
0.5*(pdal_bounds.miny + pdal_bounds.maxy),
0.5*(pdal_bounds.minz + pdal_bounds.maxz));
// Attempt to place all data on the same vertical scale, but allow
// other offsets if the magnitude of z is too large (and we would
// therefore loose noticable precision by storing the data as floats)
if (fabs(offset.z) < 10000)
offset.z = 0;
// Allocate all arrays
fields.push_back(GeomField(TypeSpec::vec3float32(), "position", npoints));
fields.push_back(GeomField(TypeSpec::uint16_i(), "intensity", npoints));
fields.push_back(GeomField(TypeSpec::uint8_i(), "returnNumber", npoints));
fields.push_back(GeomField(TypeSpec::uint8_i(), "numberOfReturns", npoints));
fields.push_back(GeomField(TypeSpec::uint8_i(), "pointSourceId", npoints));
fields.push_back(GeomField(TypeSpec::uint8_i(), "classification", npoints));
// Output iterators for the output arrays
V3f* position = (V3f*)fields[0].as<float>();
uint16_t* intensity = fields[1].as<uint16_t>();
uint8_t* returnNumber = fields[2].as<uint8_t>();
uint8_t* numReturns = fields[3].as<uint8_t>();
uint8_t* pointSourceId = fields[4].as<uint8_t>();
uint8_t* classification = fields[5].as<uint8_t>();
uint16_t* color = 0;
if (hasColor)
{
fields.push_back(GeomField(TypeSpec(TypeSpec::Uint,2,3,TypeSpec::Color),
"color", npoints));
color = fields.back().as<uint16_t>();
}
size_t readCount = 0;
size_t storeCount = 0;
size_t nextDecimateBlock = 1;
size_t nextStore = 1;
for (auto st = pbSet.begin(); st != pbSet.end(); ++st)
// while (size_t numRead = chunkIter->read(buf))
{
pdal::PointBufferPtr buf = *st;
for (size_t i = 0; i < buf->size(); ++i)
{
++readCount;
V3d P = V3d(buf->getFieldAs<double>(pdal::Dimension::Id::X, i),
buf->getFieldAs<double>(pdal::Dimension::Id::Y, i),
buf->getFieldAs<double>(pdal::Dimension::Id::Z, i));
// V3d P = V3d(xDim.applyScaling(buf.getField<int32_t>(xDim, i)),
// yDim.applyScaling(buf.getField<int32_t>(yDim, i)),
// zDim.applyScaling(buf.getField<int32_t>(zDim, i)));
bbox.extendBy(P);
Psum += P;
if(readCount < nextStore)
continue;
++storeCount;
// Store the point
*position++ = P - offset;
*intensity++ = buf->getFieldAs<uint16_t>(pdal::Dimension::Id::Intensity, i);
*returnNumber++ = buf->getFieldAs<uint8_t>(pdal::Dimension::Id::ReturnNumber, i);
*numReturns++ = buf->getFieldAs<uint8_t>(pdal::Dimension::Id::NumberOfReturns, i);
*pointSourceId++ = buf->getFieldAs<uint8_t>(pdal::Dimension::Id::PointSourceId, i);
*classification++ = buf->getFieldAs<uint8_t>(pdal::Dimension::Id::Classification, i);
// Extract point RGB
if (hasColor)
{
*color++ = buf->getFieldAs<uint16_t>(pdal::Dimension::Id::Red, i);
*color++ = buf->getFieldAs<uint16_t>(pdal::Dimension::Id::Green, i);
*color++ = buf->getFieldAs<uint16_t>(pdal::Dimension::Id::Blue, i);
}
// Figure out which point will be the next stored point.
nextDecimateBlock += decimate;
nextStore = nextDecimateBlock;
if(decimate > 1)
{
// Randomize selected point within block to avoid repeated patterns
nextStore += (qrand() % decimate);
if(nextDecimateBlock <= totalPoints && nextStore > totalPoints)
nextStore = totalPoints;
}
}
emit loadProgress(100*readCount/totalPoints);
}
#else
LASreadOpener lasReadOpener;
#ifdef _WIN32
// Hack: liblas doesn't like forward slashes as path separators on windows
fileName = fileName.replace('/', '\\');
#endif
lasReadOpener.set_file_name(fileName.toLatin1().constData());
std::unique_ptr<LASreader> lasReader(lasReadOpener.open());
if(!lasReader)
{
g_logger.error("Couldn't open file \"%s\"", fileName);
return false;
}
//std::ofstream dumpFile("points.txt");
// Figure out how much to decimate the point cloud.
totalPoints = std::max<uint64_t>(lasReader->header.extended_number_of_point_records,
lasReader->header.number_of_point_records);
size_t decimate = totalPoints == 0 ? 1 : 1 + (totalPoints - 1) / maxPointCount;
if(decimate > 1)
{
g_logger.info("Decimating \"%s\" by factor of %d",
fileName.toStdString(), decimate);
}
npoints = (totalPoints + decimate - 1) / decimate;
offset = V3d(lasReader->header.min_x, lasReader->header.min_y, 0);
// Attempt to place all data on the same vertical scale, but allow other
// offsets if the magnitude of z is too large (and we would therefore loose
// noticable precision by storing the data as floats)
if (fabs(lasReader->header.min_z) > 10000)
offset.z = lasReader->header.min_z;
fields.push_back(GeomField(TypeSpec::vec3float32(), "position", npoints));
fields.push_back(GeomField(TypeSpec::uint16_i(), "intensity", npoints));
fields.push_back(GeomField(TypeSpec::uint8_i(), "returnNumber", npoints));
fields.push_back(GeomField(TypeSpec::uint8_i(), "numberOfReturns", npoints));
fields.push_back(GeomField(TypeSpec::uint8_i(), "pointSourceId", npoints));
fields.push_back(GeomField(TypeSpec::uint8_i(), "classification", npoints));
if (totalPoints == 0)
{
g_logger.warning("File %s has zero points", fileName);
return true;
}
// Iterate over all points & pull in the data.
V3f* position = (V3f*)fields[0].as<float>();
uint16_t* intensity = fields[1].as<uint16_t>();
uint8_t* returnNumber = fields[2].as<uint8_t>();
uint8_t* numReturns = fields[3].as<uint8_t>();
uint8_t* pointSourceId = fields[4].as<uint8_t>();
uint8_t* classification = fields[5].as<uint8_t>();
uint64_t readCount = 0;
uint64_t nextDecimateBlock = 1;
uint64_t nextStore = 1;
size_t storeCount = 0;
if (!lasReader->read_point())
return false;
const LASpoint& point = lasReader->point;
uint16_t* color = 0;
if (point.have_rgb)
{
fields.push_back(GeomField(TypeSpec(TypeSpec::Uint,2,3,TypeSpec::Color),
"color", npoints));
color = fields.back().as<uint16_t>();
}
do
{
// Read a point from the las file
++readCount;
if(readCount % 10000 == 0)
emit loadProgress(100*readCount/totalPoints);
V3d P = V3d(point.get_x(), point.get_y(), point.get_z());
bbox.extendBy(P);
Psum += P;
if(readCount < nextStore)
continue;
++storeCount;
// Store the point
*position++ = P - offset;
// float intens = float(point.scan_angle_rank) / 40;
*intensity++ = point.intensity;
*returnNumber++ = point.return_number;
# if LAS_TOOLS_VERSION >= 140315
*numReturns++ = point.number_of_returns;
# else
*numReturns++ = point.number_of_returns_of_given_pulse;
# endif
*pointSourceId++ = point.point_source_ID;
// Put flags back in classification byte to avoid memory bloat
*classification++ = point.classification | (point.synthetic_flag << 5) |
(point.keypoint_flag << 6) | (point.withheld_flag << 7);
// Extract point RGB
if (color)
{
*color++ = point.rgb[0];
*color++ = point.rgb[1];
*color++ = point.rgb[2];
}
// Figure out which point will be the next stored point.
nextDecimateBlock += decimate;
nextStore = nextDecimateBlock;
if(decimate > 1)
{
// Randomize selected point within block to avoid repeated patterns
nextStore += (qrand() % decimate);
if(nextDecimateBlock <= totalPoints && nextStore > totalPoints)
nextStore = totalPoints;
}
}
while(lasReader->read_point());
lasReader->close();
#endif
if (readCount < totalPoints)
{
g_logger.warning("Expected %d points in file \"%s\", got %d",
totalPoints, fileName, readCount);
npoints = storeCount;
// Shrink all fields to fit - these will have wasted space at the end,
// but that will be fixed during reordering.
for (size_t i = 0; i < fields.size(); ++i)
fields[i].size = npoints;
totalPoints = readCount;
}
if (totalPoints > 0)
centroid = (1.0/totalPoints)*Psum;
return true;
}
